#include <itkAdvancedRigid3DTransform.h>

Detailed Description

template<class TScalarType = double>
class itk::AdvancedRigid3DTransform< TScalarType >

AdvancedRigid3DTransform of a vector space (e.g. space coordinates)

This transform applies a rotation and translation in 3D space. The transform is specified as a rotation matrix around a arbitrary center and is followed by a translation.

The parameters for this transform can be set either using individual Set methods or in serialized form using SetParameters() and SetFixedParameters().

The serialization of the optimizable parameters is an array of 12 elements. The first 9 parameters represents the rotation matrix in column-major order (where the column index varies the fastest). The last 3 parameters defines the translation in each dimension.

The serialization of the fixed parameters is an array of 3 elements defining the center of rotation in each dimension.

Definition at line 66 of file itkAdvancedRigid3DTransform.h.

Inheritance diagram for itk::AdvancedRigid3DTransform< TScalarType >:

[legend]

Public Types
using	CenterType

using	ConstPointer = SmartPointer<const Self>

using	InverseMatrixType

using	MatrixType

using	OffsetType

using	Pointer = SmartPointer<Self>

using	Self = AdvancedRigid3DTransform

using	Superclass = AdvancedMatrixOffsetTransformBase<TScalarType, 3, 3>

using	TranslationType

Public Types inherited from itk::AdvancedMatrixOffsetTransformBase< double, 3, 3 >
using	CenterType

using	ConstPointer

using	InverseMatrixType

using	MatrixType

using	OffsetType

using	Pointer

using	Self

using	Superclass

using	TranslationType

Public Types inherited from itk::AdvancedTransform< double, NInputDimensions, NOutputDimensions >
using	ConstPointer

using	InternalMatrixType

using	InverseTransformBaseType

using	JacobianOfSpatialHessianType

using	JacobianOfSpatialJacobianType

using	MovingImageGradientType

using	MovingImageGradientValueType

using	NonZeroJacobianIndicesType

using	Pointer

using	Self

using	SpatialHessianType

using	SpatialJacobianType

using	Superclass

using	TransformType

using	TransformTypeConstPointer

using	TransformTypePointer

Public Member Functions
virtual const char *	GetClassName () const

	ITK_DISALLOW_COPY_AND_MOVE (AdvancedRigid3DTransform)

	itkStaticConstMacro (InputSpaceDimension, unsigned int, 3)

	itkStaticConstMacro (OutputSpaceDimension, unsigned int, 3)

	itkStaticConstMacro (ParametersDimension, unsigned int, 12)

	itkStaticConstMacro (SpaceDimension, unsigned int, 3)

bool	MatrixIsOrthogonal (const MatrixType &matrix, double tol=1e-10)

void	SetMatrix (const MatrixType &matrix) override

void	SetParameters (const ParametersType &parameters) override

Public Member Functions inherited from itk::AdvancedMatrixOffsetTransformBase< double, 3, 3 >
const InputPointType &	GetCenter () const

const FixedParametersType &	GetFixedParameters () const override

void	GetJacobian (const InputPointType &, JacobianType &, NonZeroJacobianIndicesType &) const override

void	GetJacobianOfSpatialHessian (const InputPointType &, JacobianOfSpatialHessianType &, NonZeroJacobianIndicesType &) const override

void	GetJacobianOfSpatialHessian (const InputPointType &inputPoint, SpatialHessianType &sh, JacobianOfSpatialHessianType &jsh, NonZeroJacobianIndicesType &nonZeroJacobianIndices) const override

void	GetJacobianOfSpatialJacobian (const InputPointType &, JacobianOfSpatialJacobianType &, NonZeroJacobianIndicesType &) const override

void	GetJacobianOfSpatialJacobian (const InputPointType &, SpatialJacobianType &, JacobianOfSpatialJacobianType &, NonZeroJacobianIndicesType &) const override

const MatrixType &	GetMatrix () const

const ParametersType &	GetParameters () const override

void	GetSpatialHessian (const InputPointType &, SpatialHessianType &) const override

void	GetSpatialJacobian (const InputPointType &, SpatialJacobianType &) const override

TransformCategoryEnum	GetTransformCategory () const override

const OutputVectorType &	GetTranslation () const

bool	IsLinear () const override

	itkStaticConstMacro (InputSpaceDimension, unsigned int, NInputDimensions)

	itkStaticConstMacro (OutputSpaceDimension, unsigned int, NOutputDimensions)

	itkStaticConstMacro (ParametersDimension, unsigned int, NOutputDimensions *(NInputDimensions+1))

void	SetCenter (const InputPointType &center)

void	SetFixedParameters (const FixedParametersType &) override

virtual void	SetIdentity ()

virtual void	SetMatrix (const MatrixType &matrix)

void	SetParameters (const ParametersType &parameters) override

void	SetTranslation (const OutputVectorType &translation)

OutputCovariantVectorType	TransformCovariantVector (const InputCovariantVectorType &vector) const override

OutputPointType	TransformPoint (const InputPointType &point) const override

OutputVectorType	TransformVector (const InputVectorType &vector) const override

OutputVnlVectorType	TransformVector (const InputVnlVectorType &vector) const override

Public Member Functions inherited from itk::AdvancedTransform< double, NInputDimensions, NOutputDimensions >
void	ComputeJacobianWithRespectToParameters (const InputPointType &, JacobianType &) const override

virtual void	EvaluateJacobianWithImageGradientProduct (const InputPointType &inputPoint, const MovingImageGradientType &movingImageGradient, DerivativeType &imageJacobian, NonZeroJacobianIndicesType &nonZeroJacobianIndices) const

virtual bool	GetHasNonZeroJacobianOfSpatialHessian () const

virtual bool	GetHasNonZeroSpatialHessian () const

virtual NumberOfParametersType	GetNumberOfNonZeroJacobianIndices () const

	ITK_DISALLOW_COPY_AND_MOVE (AdvancedTransform)

	itkStaticConstMacro (InputSpaceDimension, unsigned int, NInputDimensions)

	itkStaticConstMacro (OutputSpaceDimension, unsigned int, NOutputDimensions)

Static Public Member Functions
static Pointer	New ()

Static Public Member Functions inherited from itk::AdvancedMatrixOffsetTransformBase< double, 3, 3 >
static Pointer	New ()

Protected Member Functions
	AdvancedRigid3DTransform ()

	AdvancedRigid3DTransform (unsigned int paramDim)

void	PrintSelf (std::ostream &s, Indent indent) const override

	~AdvancedRigid3DTransform () override=default

Protected Member Functions inherited from itk::AdvancedMatrixOffsetTransformBase< double, 3, 3 >
	AdvancedMatrixOffsetTransformBase (const unsigned int paramDims=ParametersDimension)

virtual void	ComputeMatrix ()

virtual void	ComputeMatrixParameters ()

virtual void	ComputeOffset ()

void	ComputeTranslation ()

const OutputVectorType &	GetOffset () const

void	PrintSelf (std::ostream &s, Indent indent) const override

void	SetVarMatrix (const MatrixType &matrix)

void	SetVarTranslation (const OutputVectorType &translation)

	~AdvancedMatrixOffsetTransformBase () override=default

Protected Member Functions inherited from itk::AdvancedTransform< double, NInputDimensions, NOutputDimensions >
	AdvancedTransform ()=default

	~AdvancedTransform () override=default

Additional Inherited Members
Protected Attributes inherited from itk::AdvancedMatrixOffsetTransformBase< double, 3, 3 >
JacobianOfSpatialHessianType	m_JacobianOfSpatialHessian

JacobianOfSpatialJacobianType	m_JacobianOfSpatialJacobian

NonZeroJacobianIndicesType	m_NonZeroJacobianIndices

SpatialHessianType	m_SpatialHessian

Protected Attributes inherited from itk::AdvancedTransform< double, NInputDimensions, NOutputDimensions >
bool	m_HasNonZeroJacobianOfSpatialHessian

bool	m_HasNonZeroSpatialHessian

Member Typedef Documentation

◆ CenterType

template<class TScalarType = double>

using itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >::CenterType

Typedefs.

Definition at line 147 of file itkAdvancedMatrixOffsetTransformBase.h.

◆ ConstPointer

template<class TScalarType = double>

using itk::AdvancedRigid3DTransform< TScalarType >::ConstPointer = SmartPointer<const Self>

Definition at line 75 of file itkAdvancedRigid3DTransform.h.

◆ InverseMatrixType

template<class TScalarType = double>

using itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >::InverseMatrixType

Standard inverse matrix type for this class.

Definition at line 144 of file itkAdvancedMatrixOffsetTransformBase.h.

◆ MatrixType

template<class TScalarType = double>

using itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >::MatrixType

Standard matrix type for this class.

Definition at line 141 of file itkAdvancedMatrixOffsetTransformBase.h.

◆ OffsetType

template<class TScalarType = double>

using itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >::OffsetType

Definition at line 148 of file itkAdvancedMatrixOffsetTransformBase.h.

◆ Pointer

template<class TScalarType = double>

using itk::AdvancedRigid3DTransform< TScalarType >::Pointer = SmartPointer<Self>

Definition at line 74 of file itkAdvancedRigid3DTransform.h.

◆ Self

template<class TScalarType = double>

using itk::AdvancedRigid3DTransform< TScalarType >::Self = AdvancedRigid3DTransform

Standard class typedefs.

Definition at line 72 of file itkAdvancedRigid3DTransform.h.

◆ Superclass

template<class TScalarType = double>

using itk::AdvancedRigid3DTransform< TScalarType >::Superclass = AdvancedMatrixOffsetTransformBase<TScalarType, 3, 3>

Definition at line 73 of file itkAdvancedRigid3DTransform.h.

◆ TranslationType

template<class TScalarType = double>

using itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >::TranslationType

Definition at line 149 of file itkAdvancedMatrixOffsetTransformBase.h.

Constructor & Destructor Documentation

◆ AdvancedRigid3DTransform() [1/2]

template<class TScalarType = double>

itk::AdvancedRigid3DTransform< TScalarType >::AdvancedRigid3DTransform ( unsigned int paramDim )

explicitprotected

◆ AdvancedRigid3DTransform() [2/2]

template<class TScalarType = double>

itk::AdvancedRigid3DTransform< TScalarType >::AdvancedRigid3DTransform ( )

protected

◆ ~AdvancedRigid3DTransform()

template<class TScalarType = double>

itk::AdvancedRigid3DTransform< TScalarType >::~AdvancedRigid3DTransform ( )

overrideprotecteddefault

Member Function Documentation

◆ GetClassName()

template<class TScalarType = double>

virtual const char * itk::AdvancedRigid3DTransform< TScalarType >::GetClassName ( ) const

virtual

Run-time type information (and related methods).

Reimplemented from itk::AdvancedMatrixOffsetTransformBase< double, 3, 3 >.

Reimplemented in itk::AdvancedEuler3DTransform< TScalarType >, itk::AdvancedEuler3DTransform< float >, itk::AdvancedSimilarity3DTransform< TScalarType >, itk::AdvancedSimilarity3DTransform< float >, itk::AdvancedVersorRigid3DTransform< TScalarType >, itk::AdvancedVersorRigid3DTransform< double >, itk::AdvancedVersorRigid3DTransform< float >, itk::AdvancedVersorTransform< TScalarType >, itk::AdvancedVersorTransform< double >, itk::AdvancedVersorTransform< float >, itk::GPUAdvancedEuler3DTransform< TScalarType, TParentTransform >, and itk::GPUAdvancedSimilarity3DTransform< TScalarType, TParentTransform >.

◆ ITK_DISALLOW_COPY_AND_MOVE()

template<class TScalarType = double>

itk::AdvancedRigid3DTransform< TScalarType >::ITK_DISALLOW_COPY_AND_MOVE ( AdvancedRigid3DTransform< TScalarType > )

◆ itkStaticConstMacro() [1/4]

template<class TScalarType = double>

itk::AdvancedRigid3DTransform< TScalarType >::itkStaticConstMacro	(	InputSpaceDimension	,
		unsigned int	,
		3	)

◆ itkStaticConstMacro() [2/4]

template<class TScalarType = double>

itk::AdvancedRigid3DTransform< TScalarType >::itkStaticConstMacro	(	OutputSpaceDimension	,
		unsigned int	,
		3	)

◆ itkStaticConstMacro() [3/4]

template<class TScalarType = double>

itk::AdvancedRigid3DTransform< TScalarType >::itkStaticConstMacro	(	ParametersDimension	,
		unsigned int	,
		12	)

◆ itkStaticConstMacro() [4/4]

template<class TScalarType = double>

itk::AdvancedRigid3DTransform< TScalarType >::itkStaticConstMacro	(	SpaceDimension	,
		unsigned int	,
		3	)

Dimension of the space.

◆ MatrixIsOrthogonal()

template<class TScalarType = double>

bool itk::AdvancedRigid3DTransform< TScalarType >::MatrixIsOrthogonal	(	const MatrixType &	matrix,
		double	tol = 1e-10 )

Utility function to test if a matrix is orthogonal within a specified tolerance

◆ New()

template<class TScalarType = double>

static Pointer itk::AdvancedRigid3DTransform< TScalarType >::New ( )

static

New macro for creation of through a Smart Pointer

◆ PrintSelf()

template<class TScalarType = double>

void itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >::PrintSelf	(	std::ostream &	s,
		Indent	indent ) const

overrideprotected

Print contents of an AdvancedMatrixOffsetTransformBase.

◆ SetMatrix()

template<class TScalarType = double>

void itk::AdvancedRigid3DTransform< TScalarType >::SetMatrix ( const MatrixType & matrix )

override

Directly set the rotation matrix of the transform.

Warning: The input matrix must be orthogonal to within a specified tolerance, else an exception is thrown.

See also: AdvancedMatrixOffsetTransformBase::SetMatrix()

Reimplemented in itk::AdvancedSimilarity3DTransform< TScalarType >, and itk::AdvancedSimilarity3DTransform< float >.

◆ SetParameters()

template<class TScalarType = double>

void itk::AdvancedRigid3DTransform< TScalarType >::SetParameters ( const ParametersType & parameters )

override

Set the transformation from a container of parameters This is typically used by optimizers. There are 12 parameters. The first 9 represents the rotation matrix is column-major order and the last 3 represents the translation.

Warning: The rotation matrix must be orthogonal to within a specified tolerance, else an exception is thrown.

See also: Transform::SetParameters(); Transform::SetFixedParameters()

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Typedef Documentation

◆ CenterType

◆ ConstPointer

◆ InverseMatrixType

◆ MatrixType

◆ OffsetType

◆ Pointer

◆ Self

◆ Superclass

◆ TranslationType

Constructor & Destructor Documentation

◆ AdvancedRigid3DTransform() [1/2]

◆ AdvancedRigid3DTransform() [2/2]

◆ ~AdvancedRigid3DTransform()

Member Function Documentation

◆ GetClassName()

◆ ITK_DISALLOW_COPY_AND_MOVE()

◆ itkStaticConstMacro() [1/4]

◆ itkStaticConstMacro() [2/4]

◆ itkStaticConstMacro() [3/4]

◆ itkStaticConstMacro() [4/4]

◆ MatrixIsOrthogonal()

◆ New()

◆ PrintSelf()

◆ SetMatrix()

◆ SetParameters()